# lane id (-2,-1,1,2)
int8 lane_id

# lane track id
int32 track_id

# lane type (UNKNOWN = 0 SOLID = 1 ROAD_EDGE = 2 DASHED = 3 DOUBLE_LANE_LEFTD_RIGHTS = 4 DOUBLE_LANE_LEFTS_RIGHTD = 5
#            DOUBLE_LANE_DOUBLE_DASHED = 6 DOUBLE_LANE_DOUBLE_SOLID = 7 BARRIER = 9 SHADED_AREA=10 Deceleration_SolidLine=11
#            Deceleration_DahLine=12 Line_Ramp_Solid=13 Line_Ramp_Dashed=14 INVALID:15)
int8 lane_type

# lane color (Unknown = 0, White = 1, Yellow = 2, Blue_Green=3)
int8 lane_color

# lane confidence (range:0~1)
float32 lane_confidence

# 边界线点串，车辆坐标下（uint:m）
geometry_msgs/Point[] lane_points

# 起始点(远点)
geometry_msgs/Point start_point

# 终止点(近点)
geometry_msgs/Point end_point

# lane width (uint:m, range:0~1)
float32 lane_width

# lane_curve_paramater（c3，c2，c1，c0），vehicle coordinate system(uint:m)
float32[] lane_curve_paramater

# lane measuring status, 0-Unknown,1-New,2-Measured_Parallel,3-Predicted_Parallel,4-Measured_Unparallel,5-Predicted_Unparallel,6-Not valid.
int8 lane_measuring_status

# lane quality, 0-Unknown, 1-Low quality, 2-High quality, 3-Very High quality.
int8 lane_quality

# Time to Lane Crossing, calculated by the distance of front-wheel to lane line center, and host vehicle lateral velocity.
# unit: sec, range: 0~2
float32 lane_time_to_crossing

# 主车道变换标志，当自车进行一次车道变换时，在一个帧中输出为1，0-false, 1-true
bool change_lane_flag

# 该车道线是否被停止线切割，0-false, 1-true.
bool stopline_relevancy

# CNN检测置信度，range: 0~1
float32 detection_confidence

# 匝道线近点类型：default=0,division=1,分流merge=2,合流highway_exit_start=3,高速公路起点highway_exit_end=4,高速公路终点
int8 lane_extra_near_point_type

# 匝道线远点坐标，坐标系为VCS，单位：m，range: 0~204.7(X), -51.2~51.1(Y)
geometry_msgs/Point lane_extra_near_point_pos

# 匝道线远点类型：default=0,division=1,分流merge=2,合流highway_exit_start=3,高速公路起点highway_exit_end=4,高速公路终点
int8 lane_extra_far_point_type

# 匝道线远点坐标，坐标系为VCS，单位：m，range: 0~204.7(X), -51.2~51.1(Y)
geometry_msgs/Point lane_extra_far_point_pos